An evaluation of 2D SLAM techniques available in Robot Operating System

Machado Santos, Joao, Portugal, David and Rocha, Rui P. (2013) An evaluation of 2D SLAM techniques available in Robot Operating System. In: 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), 21-26 October 2013, Linköping, Sweden.

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n this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments. In order to draw conclusions on the performance of the tested techniques, the experimental results were collected under the same conditions and a generalized performance metric based on the k-nearest neighbours concept was applied. Moreover, the CPU load of each technique is examined. This work provides insight on the weaknesses and strengths of each solution. Such analysis is fundamental to decide which solution to adopt according to the properties of the intended final application.

Keywords:SLAM, Robot operating System, Sensor fusion
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
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ID Code:14672
Deposited On:11 Aug 2014 11:12

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